CLocalMetricHypothesis.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */


#include "hmtslam-precomp.h" // Precomp header

#include <mrpt/utils/stl_serialization.h>
#include <mrpt/system/os.h>
#include <mrpt/poses/CPose3DPDFParticles.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CEllipsoid.h>
#include <mrpt/opengl/CSimpleLine.h>
#include <mrpt/opengl/CText.h>
#include <mrpt/opengl/CSphere.h>
#include <mrpt/opengl/CArrow.h>
#include <mrpt/opengl/stock_objects.h>

#include <mrpt/hmtslam/CRobotPosesGraph.h>

using namespace mrpt;
using namespace mrpt::slam;
using namespace mrpt::hmtslam;
using namespace mrpt::utils;
using namespace mrpt::synch;
using namespace mrpt::opengl;
using namespace mrpt::obs;
using namespace mrpt::maps;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace std;

IMPLEMENTS_SERIALIZABLE(CLocalMetricHypothesis, CSerializable,mrpt::hmtslam)
IMPLEMENTS_SERIALIZABLE(CLSLAMParticleData, CSerializable,mrpt::hmtslam)


/*---------------------------------------------------------------
                                Normal constructor
  ---------------------------------------------------------------*/
CLocalMetricHypothesis::CLocalMetricHypothesis( CHMTSLAM  * parent ) :
        m_lock(),
        m_parent(parent),
        m_log_w_metric_history()
        //m_log_w_topol_history()
{
        m_log_w                                 = 0;
        m_accumRobotMovementIsValid     = false;
}


/*---------------------------------------------------------------
                                Destructor
  ---------------------------------------------------------------*/
CLocalMetricHypothesis::~CLocalMetricHypothesis()
{
        clearParticles();
}

/*---------------------------------------------------------------
                                   getAs3DScene

        Returns a 3D representation of the current robot pose, all
        the poses in the auxiliary graph, and each of the areas
        they belong to.
  ---------------------------------------------------------------*/
void CLocalMetricHypothesis::getAs3DScene( opengl::CSetOfObjectsPtr &objs ) const
{
        objs->clear();

        // -------------------------------------------
        // Draw a grid on the ground:
        // -------------------------------------------
        {
                opengl::CGridPlaneXYPtr obj = opengl::CGridPlaneXY::Create(-100,100,-100,100,0,5);
                obj->setColor(0.4,0.4,0.4);

                objs->insert(obj);  // it will free the memory
        }

        // ---------------------------------------------------------
        // Draw each of the robot poses as 2D/3D ellipsoids
        //  For the current pose, draw the robot itself as well.
        // ---------------------------------------------------------
        std::map< TPoseID, CPose3DPDFParticles > lstPoses;
        std::map< TPoseID, CPose3DPDFParticles >::iterator      it;
        getPathParticles( lstPoses );

        // -----------------------------------------------
        // Draw a 3D coordinates corner for each cluster
        // -----------------------------------------------
        {
                CCriticalSectionLocker  locker( &m_parent->m_map_cs );

                for ( TNodeIDSet::const_iterator n=m_neighbors.begin();n!=m_neighbors.end();++n)
                {
                        const CHMHMapNodePtr node = m_parent->m_map.getNodeByID( *n );
                        ASSERT_(node);
                        TPoseID poseID_origin;
                        CPose3D originPose;
                        if (node->m_annotations.getElemental( NODE_ANNOTATION_REF_POSEID,poseID_origin, m_ID))
                        {
                                lstPoses[ poseID_origin ].getMean(originPose);

                                opengl::CSetOfObjectsPtr corner = stock_objects::CornerXYZ();
                                corner->setPose(originPose);
                                objs->insert( corner );
                        }
                }
        } // end of lock on map_cs

        // Add a camera following the robot:
        // -----------------------------------------
        const CPose3D meanCurPose = lstPoses[ m_currentRobotPose ].getMeanVal();
        {
                opengl::CCameraPtr cam = opengl::CCamera::Create();
                cam->setZoomDistance(85);
                cam->setAzimuthDegrees(45 + RAD2DEG(meanCurPose.yaw()));
                cam->setElevationDegrees(45);
                cam->setPointingAt(meanCurPose);
                objs->insert(cam);
        }



        map<CHMHMapNode::TNodeID,CPoint3D>      areas_mean;  // Store the mean pose of each area
        map<CHMHMapNode::TNodeID,int>                   areas_howmany;

        for (it=lstPoses.begin(); it!=lstPoses.end();it++)
        {
                opengl::CEllipsoidPtr ellip = opengl::CEllipsoid::Create();
                // Color depending on being into the current area:
                if ( m_nodeIDmemberships.find(it->first)->second == m_nodeIDmemberships.find(m_currentRobotPose)->second )
                        ellip->setColor(0,0,1);
                else
                        ellip->setColor(1,0,0);

                const CPose3DPDFParticles  *pdfParts = &it->second;
                CPose3DPDFGaussian   pdf;
                pdf.copyFrom( *pdfParts );

                // Mean:
                ellip->setLocation(pdf.mean.x(), pdf.mean.y(), pdf.mean.z()+0.005);  // To be above the ground gridmap...

                // Cov:
                CMatrixDouble C = CMatrixDouble(pdf.cov); // 6x6 cov.
                C.setSize(3,3);

                // Is a 2D pose??
                if ( pdf.mean.pitch() == 0 && pdf.mean.roll() == 0 && pdf.cov(2,2) < 1e-4f )
                        C.setSize(2,2);

                ellip->setCovMatrix(C);

                ellip->enableDrawSolid3D(false);

                // Name:
                ellip->setName( format("P%u", (unsigned int) it->first ) );
                ellip->enableShowName();

                // Add it:
                objs->insert( ellip );

                // Add an arrow for the mean direction also:
                {
                        mrpt::opengl::CArrowPtr obj = mrpt::opengl::CArrow::Create(
                                0,0,0,
                                0.20f,0,0,
                                0.25f,0.005f,0.02f);
                        obj->setColor(1,0,0);
                        obj->setPose(pdf.mean);
                        objs->insert( obj );
            }



                // Is this the current robot pose?
                if (it->first == m_currentRobotPose )
                {
                        // Draw robot:
                        opengl::CSetOfObjectsPtr robot = stock_objects::RobotPioneer();
                        robot->setPose(pdf.mean);

                        // Add it:
                        objs->insert( robot );
                }
                else // The current robot pose does not count
                {
                        // Compute the area means:
                        std::map<TPoseID,CHMHMapNode::TNodeID>::const_iterator itAreaId = m_nodeIDmemberships.find( it->first );
                        ASSERT_( itAreaId != m_nodeIDmemberships.end() );
                        CHMHMapNode::TNodeID  areaId = itAreaId->second;
                        areas_howmany[ areaId  ]++;
                        areas_mean[ areaId  ].x_incr( pdf.mean.x() );
                        areas_mean[ areaId  ].y_incr( pdf.mean.y() );
                        areas_mean[ areaId  ].z_incr( pdf.mean.z() );
                }
        } // end for it

        // Average area means:
        map<CHMHMapNode::TNodeID,CPoint3D>::iterator itMeans;
        map<CHMHMapNode::TNodeID,int>::iterator      itHowMany;
        ASSERT_( areas_howmany.size() == areas_mean.size() );
        for ( itMeans = areas_mean.begin(), itHowMany = areas_howmany.begin(); itMeans!=areas_mean.end(); itMeans++, itHowMany++ )
        {
                ASSERT_( itHowMany->second >0);

                float f = 1.0f / itHowMany->second;
                itMeans->second *= f;
        }


        // -------------------------------------------------------------------
        // Draw lines between robot poses & their corresponding area sphere
        // -------------------------------------------------------------------
        for (it=lstPoses.begin(); it!=lstPoses.end();it++)
        {
                if (it->first != m_currentRobotPose )
                {
                        CPoint3D  areaPnt( areas_mean[ m_nodeIDmemberships.find( it->first )->second ] );
                        areaPnt.z_incr( m_parent->m_options.VIEW3D_AREA_SPHERES_HEIGHT );

                        const CPose3DPDFParticles  *pdfParts = &it->second;
                        CPose3DPDFGaussian   pdf;
                        pdf.copyFrom( *pdfParts );

                        opengl::CSimpleLinePtr line = opengl::CSimpleLine::Create();
                        line->setColor(0.8,0.8,0.8, 0.3);
                        line->setLineWidth(2);

                        line->setLineCoords(
                                pdf.mean.x(), pdf.mean.y(), pdf.mean.z(),
                                areaPnt.x(), areaPnt.y(), areaPnt.z() );
                        objs->insert( line );
                }
        } // end for it

        // -------------------------------------------------------------------
        // Draw lines for links between robot poses
        // -------------------------------------------------------------------
//      for (it=m_robotPoses.begin(); it!=m_robotPoses.end();it++)
/*      for (it=lstPoses.begin(); it!=lstPoses.end();it++)
        {
                const CPose3DPDFParticles  *myPdfParts = &it->second;
                CPose3DPDFGaussian   myPdf;
                myPdf.copyFrom( *myPdfParts );

                std::map<TPoseID,TInterRobotPosesInfo>::const_iterator itLink;
                for (itLink=it->second.m_links.begin();itLink!=it->second.m_links.end();itLink++)
                {
                        if (itLink->second.SSO>0.7)
                        {
                                CRobotPosesAuxiliaryGraph::const_iterator hisIt = m_robotPoses.find( itLink->first );
                                ASSERT_( hisIt !=m_robotPoses.end() );

                                const CPose3DPDFGaussian  *hisPdf = & hisIt->second.m_pose;

                                opengl::CSimpleLinePtr line = opengl::CSimpleLine::Create();
                                line->m_color_R = 0.2f;
                                line->m_color_G = 0.8f;
                                line->m_color_B = 0.2f;
                                line->m_color_A = 0.3f;
                                line->m_lineWidth = 3.0f;

                                line->m_x0 = myPdf->mean.x;
                                line->m_y0 = myPdf->mean.y;
                                line->m_z0 = myPdf->mean.z;

                                line->m_x1 = hisPdf->mean.x;
                                line->m_y1 = hisPdf->mean.y;
                                line->m_z1 = hisPdf->mean.z;

                                objs->insert( line );
                        }
                }
        } // end for it
*/

        // ---------------------------------------------------------
        // Draw each of the areas in the neighborhood:
        // ---------------------------------------------------------
        {
                CCriticalSectionLocker  locker( &m_parent->m_map_cs ); //To access nodes' labels.

                for ( itMeans = areas_mean.begin(); itMeans!=areas_mean.end(); itMeans++ )
                {
                        opengl::CSpherePtr sphere = opengl::CSphere::Create();

                        if (itMeans->first == m_nodeIDmemberships.find( m_currentRobotPose)->second )
                        {   // Color of current area
                                sphere->setColor(0.1,0.1,0.7);
                        }
                        else
                        {   // Color of other areas
                                sphere->setColor(0.7,0,0);
                        }

                        sphere->setLocation(itMeans->second.x(), itMeans->second.y(), itMeans->second.z() + m_parent->m_options.VIEW3D_AREA_SPHERES_HEIGHT);

                        sphere->setRadius( m_parent->m_options.VIEW3D_AREA_SPHERES_RADIUS );

                        // Add it:
                        objs->insert( sphere );

                        // And text label:
                        opengl::CTextPtr txt = opengl::CText::Create();
                        txt->setColor(1,1,1);

                        const CHMHMapNodePtr node = m_parent->m_map.getNodeByID( itMeans->first );
                        ASSERT_(node);

                        txt->setLocation( itMeans->second.x(), itMeans->second.y(), itMeans->second.z() + m_parent->m_options.VIEW3D_AREA_SPHERES_HEIGHT );

//                      txt->m_str = node->m_label;
                        txt->setString( format("%li",(long int)node->getID()) );

                        objs->insert( txt );
                }
        } // end of lock on map_cs

        // ---------------------------------------------------------
        // Draw links between areas:
        // ---------------------------------------------------------
        {
                CCriticalSectionLocker  locker( &m_parent->m_map_cs );

                for ( itMeans = areas_mean.begin(); itMeans!=areas_mean.end(); itMeans++ )
                {
                        CHMHMapNode::TNodeID  srcAreaID = itMeans->first;
                        const CHMHMapNodePtr srcArea = m_parent->m_map.getNodeByID( srcAreaID );
                        ASSERT_(srcArea);

                        TArcList                lstArcs;
                        srcArea->getArcs(lstArcs);
                        for (TArcList::const_iterator a=lstArcs.begin();a!=lstArcs.end();++a)
                        {
                                // target is in the neighborhood of LMH:
                                if ( (*a)->getNodeFrom() == srcAreaID )
                                {
                                        map<CHMHMapNode::TNodeID,CPoint3D>::const_iterator trgAreaPoseIt = areas_mean.find( (*a)->getNodeTo() );
                                        if ( trgAreaPoseIt != areas_mean.end() )
                                        {
                                                // Yes, target node of the arc is in the LMH: Draw it:
                                                opengl::CSimpleLinePtr line = opengl::CSimpleLine::Create();
                                                line->setColor(0.8,0.8,0);
                                                line->setLineWidth(3);

                                                line->setLineCoords(
                                                        areas_mean[srcAreaID].x(), areas_mean[srcAreaID].y(), areas_mean[srcAreaID].z() + m_parent->m_options.VIEW3D_AREA_SPHERES_HEIGHT,
                                                        trgAreaPoseIt->second.x(), trgAreaPoseIt->second.y(), trgAreaPoseIt->second.z() + m_parent->m_options.VIEW3D_AREA_SPHERES_HEIGHT );

                                                objs->insert( line );
                                        }
                                }
                        } // end for each arc
                } // end for each area

        } // end of lock on map_cs


}

/** The PF algorithm implementation.  */
void  CLocalMetricHypothesis::prediction_and_update_pfAuxiliaryPFOptimal(
        const mrpt::obs::CActionCollection      * action,
        const mrpt::obs::CSensoryFrame          * observation,
        const bayes::CParticleFilter::TParticleFilterOptions &PF_options )
{
        ASSERT_(m_parent.get());
        ASSERT_(m_parent->m_LSLAM_method);
        m_parent->m_LSLAM_method->prediction_and_update_pfAuxiliaryPFOptimal(this, action, observation,PF_options);
}

void  CLocalMetricHypothesis::prediction_and_update_pfOptimalProposal(
        const mrpt::obs::CActionCollection      * action,
        const mrpt::obs::CSensoryFrame          * observation,
        const bayes::CParticleFilter::TParticleFilterOptions &PF_options )
{
        ASSERT_(m_parent.get());
        ASSERT_(m_parent->m_LSLAM_method);
        m_parent->m_LSLAM_method->prediction_and_update_pfOptimalProposal(this, action, observation,PF_options);
}


/*---------------------------------------------------------------
                                        getMeans
   Returns the mean of each robot pose in this LMH, as
     computed from the set of particles.
  ---------------------------------------------------------------*/
void CLocalMetricHypothesis::getMeans( TMapPoseID2Pose3D &outList ) const
{
        MRPT_START

        outList.clear();

        // Build list of particles pdfs:
        std::map< TPoseID, CPose3DPDFParticles >        parts;
        getPathParticles( parts );

        std::map< TPoseID, CPose3DPDFParticles >::iterator   it;

        for (it=parts.begin();it!=parts.end();it++)
                it->second.getMean( outList[ it->first ] );

        MRPT_END
}


/*---------------------------------------------------------------
                                        getPathParticles
  ---------------------------------------------------------------*/
void CLocalMetricHypothesis::getPathParticles( std::map< TPoseID, CPose3DPDFParticles > &outList ) const
{
        MRPT_START

        outList.clear();

        if (m_particles.empty()) return;

        // For each poseID:
        for ( TMapPoseID2Pose3D::const_iterator itPoseID= m_particles.begin()->d->robotPoses.begin(); itPoseID!=m_particles.begin()->d->robotPoses.end();++itPoseID )
        {
                CPose3DPDFParticles                                                             auxPDF( m_particles.size() );
                CParticleList::const_iterator                                   it;
                CPose3DPDFParticles::CParticleList::iterator    itP;
                for ( it = m_particles.begin(), itP = auxPDF.m_particles.begin(); it!=m_particles.end(); it++, itP++ )
                {
                        itP->log_w = it->log_w;
                        *itP->d    = it->d->robotPoses.find( itPoseID->first )->second;
                }

                // Save PDF:
                outList[ itPoseID->first ] = auxPDF;
        } // end for itPoseID

        MRPT_END
}


/*---------------------------------------------------------------
                                        getPoseParticles
  ---------------------------------------------------------------*/
void CLocalMetricHypothesis::getPoseParticles( const TPoseID &poseID, CPose3DPDFParticles &outPDF ) const
{
        MRPT_START

        ASSERT_(!m_particles.empty());

        CParticleList::const_iterator                                   it;
        outPDF.resetDeterministic( CPose3D(), m_particles.size() );
        CPose3DPDFParticles::CParticleList::iterator    itP;
        for ( it = m_particles.begin(), itP = outPDF.m_particles.begin(); it!=m_particles.end(); it++, itP++ )
        {
                itP->log_w = it->log_w;
                TMapPoseID2Pose3D::const_iterator       itPose = it->d->robotPoses.find(poseID);
                ASSERT_( itPose!=it->d->robotPoses.end() );
                *itP->d = itPose->second;
        }

        MRPT_END
}


/*---------------------------------------------------------------
                                        clearRobotPoses
  ---------------------------------------------------------------*/
void CLocalMetricHypothesis::clearRobotPoses()
{
        clearParticles();
        m_particles.resize( m_parent->m_options.pf_options.sampleSize );
        for (CParticleList::iterator it = m_particles.begin();it!=m_particles.end();++it)
        {
                // Create particle:
                it->log_w = 0;
                it->d.reset(new CLSLAMParticleData( &m_parent->m_options.defaultMapsInitializers ));

                // Fill in:
                it->d->robotPoses.clear();
        }
}

/*---------------------------------------------------------------
                                                getCurrentPose
 ---------------------------------------------------------------*/
const CPose3D * CLocalMetricHypothesis::getCurrentPose(const size_t &particleIdx) const
{
        if (particleIdx>=m_particles.size()) THROW_EXCEPTION("Particle index out of bounds!");

        TMapPoseID2Pose3D::const_iterator it = m_particles[particleIdx].d->robotPoses.find( m_currentRobotPose );
        ASSERT_( it!=m_particles[particleIdx].d->robotPoses.end() );
        return & it->second;
}

/*---------------------------------------------------------------
                                                getCurrentPose
 ---------------------------------------------------------------*/
CPose3D * CLocalMetricHypothesis::getCurrentPose(const size_t &particleIdx)
{
        if (particleIdx>=m_particles.size()) THROW_EXCEPTION("Particle index out of bounds!");

        TMapPoseID2Pose3D::iterator it = m_particles[particleIdx].d->robotPoses.find( m_currentRobotPose );
        ASSERT_( it!=m_particles[particleIdx].d->robotPoses.end() );
        return & it->second;
}

/*---------------------------------------------------------------
                                                getRelativePose
 ---------------------------------------------------------------*/
void CLocalMetricHypothesis::getRelativePose(
        const  TPoseID &reference,
        const  TPoseID &pose,
        CPose3DPDFParticles  &outPDF ) const
{
        MRPT_START

        // Resize output:
        outPDF.resetDeterministic( CPose3D(), m_particles.size() );

        CParticleList::const_iterator                                   it;
        CPose3DPDFParticles::CParticleList::iterator    itP;
        for ( it = m_particles.begin(), itP = outPDF.m_particles.begin(); it!=m_particles.end(); it++, itP++ )
        {
                itP->log_w = it->log_w;

                TMapPoseID2Pose3D::const_iterator  srcPose =  it->d->robotPoses.find( reference );
                TMapPoseID2Pose3D::const_iterator  trgPose =  it->d->robotPoses.find( pose );

                ASSERT_( srcPose != it->d->robotPoses.end() )
                ASSERT_( trgPose != it->d->robotPoses.end() )

                *itP->d = trgPose->second - srcPose->second;
        }

        MRPT_END
}

/*---------------------------------------------------------------
                                                changeCoordinateOrigin
 ---------------------------------------------------------------*/
void CLocalMetricHypothesis::changeCoordinateOrigin( const TPoseID &newOrigin )
{
        CPose3DPDFParticles             originPDF( m_particles.size() );

        CParticleList::iterator it;
        CPose3DPDFParticles::CParticleList::iterator    itOrgPDF;

        for ( it = m_particles.begin(), itOrgPDF=originPDF.m_particles.begin(); it!=m_particles.end(); it++, itOrgPDF++ )
        {
                TMapPoseID2Pose3D::iterator  refPoseIt =  it->d->robotPoses.find( newOrigin );
                ASSERT_( refPoseIt != it->d->robotPoses.end() )
                const CPose3D  &refPose = refPoseIt->second;

                // Save in pdf to compute mean:
                *itOrgPDF->d = refPose;
                itOrgPDF->log_w = it->log_w;

                TMapPoseID2Pose3D::iterator   End = it->d->robotPoses.end();
                // Change all other poses first:
                for (TMapPoseID2Pose3D::iterator  itP=it->d->robotPoses.begin();itP!=End;++itP)
                        if (itP!=refPoseIt)
                                itP->second = itP->second - refPose;

                // Now set new origin to 0:
                refPoseIt->second.setFromValues(0,0,0);
        }

        // Rebuild metric maps for consistency:
        rebuildMetricMaps();

        // Change coords in incr. partitioning as well:
        {
                synch::CCriticalSectionLocker locker ( &m_robotPosesGraph.lock );

                CSimpleMap *SFseq = m_robotPosesGraph.partitioner.getSequenceOfFrames();
                for (std::map<uint32_t,TPoseID>::const_iterator it=m_robotPosesGraph.idx2pose.begin();it!=m_robotPosesGraph.idx2pose.end();++it)
                {
                        CPose3DPDFPtr           pdf;
                        CSensoryFramePtr        sf;
                        SFseq->get( it->first, pdf, sf);

                        // Copy from particles:
                        ASSERT_( pdf->GetRuntimeClass() == CLASS_ID(CPose3DPDFParticles) );
                        CPose3DPDFParticlesPtr pdfParts = CPose3DPDFParticlesPtr(pdf);
                        getPoseParticles( it->second, *pdfParts);
                }
        }
}

/*---------------------------------------------------------------
                                                rebuildMetricMaps
 ---------------------------------------------------------------*/
void CLocalMetricHypothesis::rebuildMetricMaps()
{
        for ( CParticleList::iterator it = m_particles.begin(); it!=m_particles.end(); ++it )
        {
                it->d->metricMaps.clear();

                // Follow all robot poses:
                TMapPoseID2Pose3D::iterator   End = it->d->robotPoses.end();
                for (TMapPoseID2Pose3D::iterator  itP=it->d->robotPoses.begin();itP!=End;++itP)
                {
                        if ( itP->first != m_currentRobotPose )  // Current robot pose has no SF stored.
                        {
                                std::map<TPoseID,CSensoryFrame>::const_iterator SFit = m_SFs.find( itP->first );
                                ASSERT_(SFit!=m_SFs.end());
                                SFit->second.insertObservationsInto( &it->d->metricMaps, &itP->second );
                        }
                }
        }
}


/** Removes a given area from the LMH:
  *     - The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH.
  *     - Robot poses belonging to that area are removed from:
  *             - the particles.
  *             - the graph partitioner.
  *             - the list of SFs.
  *             - the list m_nodeIDmemberships.
  *             - The weights of all particles are changed to remove the effects of the removed metric observations.
  *     - After calling this the metric maps should be updated.
  */
void CLocalMetricHypothesis::removeAreaFromLMH( const CHMHMapNode::TNodeID areaID )
{
        MRPT_START

        // Remove from m_neighbors:
        // -----------------------------------
        TNodeIDSet::iterator itNeig = m_neighbors.find(areaID);
        if (itNeig!=m_neighbors.end() )
                m_neighbors.erase(itNeig);

        // Build the list with the poses in the area to be removed from LMH:
        // ----------------------------------------------------------------------
        TNodeIDList   lstPoseIDs;
        for (map<TPoseID,CHMHMapNode::TNodeID>::iterator it=m_nodeIDmemberships.begin();it!=m_nodeIDmemberships.end();++it)
                if ( it->second==areaID )
                        lstPoseIDs.insert(it->first);

        ASSERT_( !lstPoseIDs.empty() );

        // ----------------------------------------------------------------------
        // The corresponding node in the HMT map is updated with the
        //   robot poses & SFs in the LMH.
        // ----------------------------------------------------------------------
        updateAreaFromLMH( areaID, true );

        // - Robot poses belonging to that area are removed from:
        //      - the particles.
        // ----------------------------------------------------------------------
        for (TNodeIDList::const_iterator it=lstPoseIDs.begin();it!=lstPoseIDs.end();++it)
                for ( CParticleList::iterator p = m_particles.begin(); p!=m_particles.end(); ++p)
                        p->d->robotPoses.erase( p->d->robotPoses.find( *it ) );

        // - The weights of all particles are changed to remove the effects of the removed metric observations.
        // ----------------------------------------------------------------------
        {
                CParticleList::iterator         p;
                vector<map<TPoseID,double> >::iterator  ws_it;
                ASSERT_( m_log_w_metric_history.size() == m_particles.size() );

                for ( ws_it=m_log_w_metric_history.begin(),p = m_particles.begin();
                                p!=m_particles.end();
                           ++p,++ws_it)
                {
                        for (TNodeIDList::const_iterator it=lstPoseIDs.begin();it!=lstPoseIDs.end();++it)
                        {
                                map<TPoseID,double>::iterator itW = ws_it->find(*it);
                                if (itW!=ws_it->end())
                                {
                                        MRPT_CHECK_NORMAL_NUMBER( itW->second );

                                        p->log_w -= itW->second;
                                        // No longer required:
                                        ws_it->erase(itW);
                                }
                        }
                }
        }

        // - Robot poses belonging to that area are removed from:
        //      - the graph partitioner.
        // ----------------------------------------------------------------------
        {
                synch::CCriticalSectionLocker locker ( &m_robotPosesGraph.lock );

                vector_uint     indexesToRemove;
                indexesToRemove.reserve( lstPoseIDs.size() );

                for ( std::map<uint32_t,TPoseID>::iterator it=m_robotPosesGraph.idx2pose.begin();it!=m_robotPosesGraph.idx2pose.end(); )
                {
                        if (lstPoseIDs.find(it->second)!=lstPoseIDs.end())
                        {
                                indexesToRemove.push_back( it->first );

                                // Remove from the mapping indexes->nodeIDs as well:
                                std::map<uint32_t,TPoseID>::iterator it2 = it; it2++;
                                //it = m_robotPosesGraph.idx2pose.erase( it );
                                m_robotPosesGraph.idx2pose.erase( it );
                                it = it2;
                        }
                        else it++;
                }

                m_robotPosesGraph.partitioner.removeSetOfNodes(indexesToRemove);

                // Renumbering of indexes<->posesIDs to be the same than in  "m_robotPosesGraph.partitioner":
                unsigned idx = 0;
                map<uint32_t,TPoseID>           newList;
                for (map<uint32_t,TPoseID>::iterator i=m_robotPosesGraph.idx2pose.begin();i!=m_robotPosesGraph.idx2pose.end();++i,idx++)
                        newList[idx] = i->second;
                m_robotPosesGraph.idx2pose = newList;
        }

        // - Robot poses belonging to that area are removed from:
        // - the list of SFs.
        // ----------------------------------------------------------------------
        // Already done above.


        // - Robot poses belonging to that area are removed from:
        // - the list m_nodeIDmemberships.
        // ----------------------------------------------------------------------
        for (TNodeIDList::const_iterator it=lstPoseIDs.begin();it!=lstPoseIDs.end();++it)
                m_nodeIDmemberships.erase( m_nodeIDmemberships.find( *it ) );


        double out_max_log_w ;
        normalizeWeights( &out_max_log_w );     // Normalize weights:

        MRPT_END
}

/*---------------------------------------------------------------
                                        TRobotPosesPartitioning::pose2idx
 ---------------------------------------------------------------*/
unsigned int CLocalMetricHypothesis::TRobotPosesPartitioning::pose2idx(const TPoseID &id) const
{
        for (std::map<uint32_t,TPoseID>::const_iterator it=idx2pose.begin();it!=idx2pose.end();++it)
                if (it->second == id)
                        return it->first;
        THROW_EXCEPTION_FMT("PoseID=%i not found.", static_cast<int>(id) );
}

/*---------------------------------------------------------------
                                        updateAreaFromLMH

// The corresponding node in the HMT map is updated with the
//   robot poses & SFs in the LMH.
 ---------------------------------------------------------------*/
void CLocalMetricHypothesis::updateAreaFromLMH(
        const CHMHMapNode::TNodeID areaID,
        bool eraseSFsFromLMH )
{
        // Build the list with the poses belonging to that area from LMH:
        // ----------------------------------------------------------------------
        TNodeIDList   lstPoseIDs;
        for (map<TPoseID,CHMHMapNode::TNodeID>::const_iterator it=m_nodeIDmemberships.begin();it!=m_nodeIDmemberships.end();++it)
                if ( it->second==areaID )
                        lstPoseIDs.insert(it->first);

        ASSERT_( !lstPoseIDs.empty() );

        CHMHMapNodePtr node;
        {
                synch::CCriticalSectionLocker  ( &m_parent->m_map_cs );
                node = m_parent->m_map.getNodeByID( areaID );
                ASSERT_(node);
                ASSERT_(node->m_hypotheses.has( m_ID ));
        } // end of HMT map cs

        // The pose to become the origin:
        TPoseID         poseID_origin;
        node->m_annotations.getElemental( NODE_ANNOTATION_REF_POSEID,poseID_origin, m_ID, true);

        // 1) The set of robot poses and SFs
        //    In annotation:                                    NODE_ANNOTATION_POSES_GRAPH
        // ---------------------------------------------------------------------
        CRobotPosesGraphPtr posesGraph;
        {
                CSerializablePtr annot = node->m_annotations.get(NODE_ANNOTATION_POSES_GRAPH,m_ID);
                if (!annot)
                {
                        // Add it now:
                        posesGraph = CRobotPosesGraph::Create();
                        node->m_annotations.setMemoryReference(NODE_ANNOTATION_POSES_GRAPH, posesGraph, m_ID);
                }
                else
                {
                        posesGraph = CRobotPosesGraphPtr(annot);
                        posesGraph->clear();
                }
        }

        // For each pose in the area:
        CPose3DPDFParticles             pdfOrigin;
        bool                                    pdfOrigin_ok=false;
        for (TNodeIDList::const_iterator it=lstPoseIDs.begin();it!=lstPoseIDs.end();++it)
        {
                TPoseInfo &poseInfo = (*posesGraph)[*it];
                getPoseParticles( *it, poseInfo.pdf );    // Save pose particles

                // Save the PDF of the origin:
                if (*it==poseID_origin)
                {
                        pdfOrigin.copyFrom( poseInfo.pdf );
                        pdfOrigin_ok = true;
                }

                if ( *it != m_currentRobotPose )  // The current robot pose has no SF
                {
                        std::map<TPoseID,CSensoryFrame>::iterator itSF = m_SFs.find(*it);
                        ASSERT_(itSF!=m_SFs.end());

                        if (eraseSFsFromLMH)
                        {
                                poseInfo.sf.moveFrom( itSF->second );   // This leaves m_SFs[*it] without observations, but it is being erased just now:
                                m_SFs.erase( itSF );
                        }
                        else
                        {
                                poseInfo.sf = itSF->second;  // Copy observations
                        }
                }
        }

        // Readjust to set the origin pose ID:
        ASSERT_(pdfOrigin_ok);
        CPose3DPDFParticles             pdfOriginInv;
        pdfOrigin.inverse(pdfOriginInv);
        for (CRobotPosesGraph::iterator it=posesGraph->begin();it!=posesGraph->end();++it)
        {
                CPose3DPDFParticles::CParticleList::iterator orgIt,pdfIt;
                ASSERT_( it->second.pdf.size() == pdfOriginInv.size() );
                for ( pdfIt=it->second.pdf.m_particles.begin(), orgIt= pdfOriginInv.m_particles.begin();orgIt!=pdfOriginInv.m_particles.end();orgIt++,pdfIt++)
                        *pdfIt->d = *orgIt->d + *pdfIt->d;
        }

        // 2) One single metric map built from the most likelily robot poses
        //    In annotation:                                    NODE_ANNOTATION_METRIC_MAPS
        // ---------------------------------------------------------------------
        CMultiMetricMapPtr metricMap = node->m_annotations.getAs<CMultiMetricMap>(NODE_ANNOTATION_METRIC_MAPS,m_ID, false);
        metricMap->clear();
        posesGraph->insertIntoMetricMap( *metricMap );

}

/*---------------------------------------------------------------
                                dumpAsText
  ---------------------------------------------------------------*/
void  CLocalMetricHypothesis::dumpAsText(utils::CStringList &st) const
{
        st.clear();
        st << "LIST OF POSES IN LMH";
        st << "====================";

        string s;
        s = "Neighbors: ";
        for (TNodeIDSet::const_iterator it=m_neighbors.begin();it!=m_neighbors.end();++it)
                s+=format("%i ",(int)*it);
        st << s;

        TMapPoseID2Pose3D lst;
        getMeans( lst );

        for (TMapPoseID2Pose3D::const_iterator it=lst.begin();it!=lst.end();++it)
        {
                map<TPoseID,CHMHMapNode::TNodeID>::const_iterator       area = m_nodeIDmemberships.find(it->first);

                string s = format("  ID: %i \t AREA: %i \t %.03f,%.03f,%.03fdeg",
                        (int)it->first,
                        (int)area->second,
                        it->second.x(),it->second.y(),RAD2DEG(it->second.yaw()) );
                st << s;
        }
}


/*---------------------------------------------------------------
                                        readFromStream
  ---------------------------------------------------------------*/
void  CLocalMetricHypothesis::readFromStream(mrpt::utils::CStream &in,int version)
{
        switch(version)
        {
        case 0:
                {
                        in  >> m_ID >> m_currentRobotPose
                                >> m_neighbors
                                >> m_nodeIDmemberships
                                >> m_SFs
                                >> m_posesPendingAddPartitioner
                                >> m_areasPendingTBI
                                >> m_log_w
                                >> m_log_w_metric_history
                                >> m_robotPosesGraph.partitioner
                                >> m_robotPosesGraph.idx2pose;

                        // particles:
                        readParticlesFromStream(in);
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

/*---------------------------------------------------------------
                                        writeToStream
        Implements the writing to a CStream capability of
          CSerializable objects
  ---------------------------------------------------------------*/
void  CLocalMetricHypothesis::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 0;
        else
        {
                out << m_ID << m_currentRobotPose
                        << m_neighbors
                        << m_nodeIDmemberships
                        << m_SFs
                        << m_posesPendingAddPartitioner
                        << m_areasPendingTBI
                        << m_log_w
                        << m_log_w_metric_history
                        << m_robotPosesGraph.partitioner
                        << m_robotPosesGraph.idx2pose;

        // particles:
        writeParticlesToStream(out);

        }
}

/*---------------------------------------------------------------
                                        readFromStream
  ---------------------------------------------------------------*/
void  CLSLAMParticleData::readFromStream(mrpt::utils::CStream &in,int version)
{
        switch(version)
        {
        case 0:
                {
            in >> metricMaps >> robotPoses;
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

/*---------------------------------------------------------------
                                        writeToStream
        Implements the writing to a CStream capability of
          CSerializable objects
  ---------------------------------------------------------------*/
void  CLSLAMParticleData::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 0;
        else
        {
                out << metricMaps << robotPoses;
    }
}